M.Sc Thesis

M.Sc StudentShapiro Yoel
SubjectHaptic Control System for a Robotic Medical System with
Application to Surface Acquisition of a Joint for
Joint Arthroplasty
DepartmentDepartment of Mechanical Engineering
Supervisor PROF. Alon Wolf
Full Thesis textFull thesis text - English Version


Robotic medical systems play an ever growing role in various medical fields. One of the first medical disciplines to embrace robotic technology was orthopedic surgery. MBARS is a parallel robot designed for knee arthroplasty - replacing damaged cartilage on the knee joint surface. Robotic systems may improve accuracy, dexterity and enhance safety. However controlling robotic systems is often cumbersome and in order to overcome this difficulty haptic feedback is explored. Haptic pertains to the sense of touch i.e. the control mechanism applies to the user forces which may reflect shape, texture, safety zones etc. Haptic capabilities were added to MBARS in order to reflect interaction forces with the bone surface and position error between control mechanism and MBARS. Haptic feedback was explored in free motion and under constrained motion to gain insights and design adequate control laws. Two different gain scheduling approaches were compared to a linear approach and showed improved performance.